Control devices for end effectors with multi-axis roller wheels, systems including the same, and related methods

Abstract

End effectors and systems may capture, release, and/or create a mating engagement between the end effector and a target object, such as in capture and launch applications, grasping applications, or pick-and-place applications. The end effectors are tolerant of positional and rotational misalignment of the target object, and may include a plurality of roller wheels, one or more of which is arranged in a non-parallel plane with respect to one or more other roller wheels. Control devices enable operation of these and other end effectors in a portable, self-contained system that a single operator can use in a hand-held or wearable form factor. The control devices may include a drive system for power transfer, manual and automatic leveling or angular positioning mechanisms, and/or operator-mounting features. Related methods may involve capture and release, pick-and-place, and/or grasping operations performed with the disclosed control device and one or more end effectors coupled thereto.

The invention claimed is: 
     
         1 . A control device for positioning and operating an end effector, the control device comprising:
 one or more elongate support arms, wherein each elongate support arm of the one or more elongate support arms extends from a proximal end to a distal end;   a housing configured to engage the end effector, wherein the housing is coupled to the distal end of, or within a distal end region of, at least one elongate support arm of the one or more elongate support arms; and   an input device operatively coupled to at least one elongate support arm of the one or more elongate support arms, wherein the input device is configured to transfer input from an operator to the end effector via at least one elongate support arm of the one or more elongate support arms, and wherein the control device is configured to automatically control an angular position of the end effector relative to the direction of gravity throughout a range of motion of the one or more elongate support arms.   
     
     
         2 . The control device according to  claim 1 , wherein the input device comprises a handle configured to transfer motion forces from the operator to the end effector via the one or more elongate support arms, and wherein the handle is further configured to transfer one or more control signals from the operator to the end effector. 
     
     
         3 . The control device according to  claim 2 , wherein the end effector comprises one or more roller wheels, wherein the one or more control signals comprise at least one selected from the group comprising: a roller direction for at least one roller wheel of the end effector, a roller speed for at least one roller wheel of the end effector, and a diameter adjustment for a diameter of an outer perimeter defined by the one or more roller wheels of the end effector. 
     
     
         4 . The control device according to  claim 1 , wherein the one or more elongate support arms comprises a first elongate support arm and a second elongate support arm, wherein the second elongate support arm is at least substantially parallel to the first elongate support arm, and wherein the control device functions as an articulated parallelogram, with the first elongate support arm and the second elongate support arm forming a part of the articulated parallelogram. 
     
     
         5 . The control device according to  claim 4 , wherein the control device comprises:
 a distal link coupled to the first elongate support arm and the second elongate support arm; and   a proximal link coupled to the first elongate support arm and the second elongate support arm, wherein the distal link, the proximal link, the first elongate support arm, and the second elongate support arm together form a four-bar linkage.   
     
     
         6 . The control device according to  claim 5 , wherein the distal link couples the housing to the first elongate support arm and the second elongate support arm. 
     
     
         7 . The control device according to  claim 6 , wherein the housing is integrally formed with the distal link. 
     
     
         8 . The control device according to  claim 6 , wherein the distal link is a coupler link of the four-bar linkage, wherein the first elongate support arm is a driver link of the four-bar linkage, wherein the second elongate support arm is a follower link of the four-bar linkage, and wherein the second elongate support arm is configured to connect the distal link to the proximal link, such that an angle of the proximal link with respect to the first elongate support arm is selectively adjustable to raise and lower the housing. 
     
     
         9 . The control device according to  claim 1 , further comprising a shoulder mount configured to engage with a shoulder of the operator of the control device, such that the control device is configured to be supported by the shoulder of the operator via the shoulder mount when the control device is in use. 
     
     
         10 . The control device according to  claim 1 , wherein the housing is configured to selectively receive and release the end effector. 
     
     
         11 . The control device according to  claim 1 , further comprising a flexible drive shaft extension configured to transfer power from a drive system to the end effector when the end effector is coupled to the housing. 
     
     
         12 . The control device according to  claim 11 , further comprising the drive system configured to drive the end effector via the flexible drive shaft extension, wherein the drive system is spaced apart from the housing, and wherein the drive system comprises a variable speed and variable direction motor. 
     
     
         13 . The control device according to  claim 1 , wherein the control device is configured to be hand-operated by a single operator. 
     
     
         14 . The control device according to  claim 1 , wherein the control device is configured to selectively transition the end effector between a first configuration and a second configuration, and wherein the control device further comprises a locking mechanism configured to selectively lock the end effector in a selected configuration of the first configuration and the second configuration, and wherein the control device further comprises a twist grip handle configured to selectively actuate the control device between the first configuration and the second configuration. 
     
     
         15 . The control device according to  claim 1 , wherein at least one elongate support arm of the one or more elongate support arms is telescoping, such that the at least one elongate support arm has a selectively adjustable length. 
     
     
         16 . The control device according to  claim 1 , further comprising a tension spring configured to bias at least one elongate support arm of the one or more elongate support arms at a given angle, such that the tension spring is configured to at least partially support the weight of the control device when in use. 
     
     
         17 . A system, comprising:
 the control device according to  claim 1 ; and   the end effector.   
     
     
         18 . The system according to  claim 17 , wherein the end effector comprises:
 a first roller wheel configured to rotate in a first plane; and   a second roller wheel configured to rotate in a second plane, wherein the second plane is non-parallel to the first plane, wherein the first roller wheel and the second roller wheel are arranged with respect to one another such that the end effector is configured to capture an object via the first roller wheel and the second roller wheel, and such that the end effector is further configured to selectively release the object from the first roller wheel and the second roller wheel.   
     
     
         19 . A control device for positioning and operating an end effector, the control device comprising:
 one or more elongate support arms, wherein each elongate support arm of the one or more elongate support arms extends from a proximal end to a distal end, wherein at least one elongate support arm of the one or more elongate support arms comprises a bend, such that a first portion of the at least one elongate support arm is arranged at a non-parallel angle with respect to a second portion of the at least one elongate support arm, and wherein the bend of the at least one elongate support arm is selectively removable from the at least one elongate support arm and selectively replaceable with an angled element configured to change the non-parallel angle between the first portion of the at least one elongate support arm and the second portion of the at least one elongate support arm;   a housing configured to engage the end effector, wherein the housing is coupled to the distal end of, or within a distal end region of, at least one elongate support arm of the one or more elongate support arms; and   an input device operatively coupled to at least one elongate support arm of the one or more elongate support arms, wherein the input device is configured to transfer input from an operator of the control device to the end effector via at least one elongate support arm of the one or more elongate support arms, and wherein the control device is configured to automatically control an angular position of the end effector relative to the direction of gravity throughout a range of motion of the one or more elongate support arms.   
     
     
         20 . A method of engaging an object, the method comprising:
 coupling an end effector to the housing of the control device according to  claim 1 ; and   moving the one or more elongate support arms to position the end effector to manipulate, capture, or engage with the object.